//! \file PathSearch.h
//! \brief Defines the <code>fullsail_ai::algorithms::PathSearch</code> class interface.
//! \author Cromwell D. Enage
#ifndef _FULLSAIL_AI_PATH_PLANNER_ALGORITHMS_PATH_SEARCH_H_
#define _FULLSAIL_AI_PATH_PLANNER_ALGORITHMS_PATH_SEARCH_H_

#include "../Core/Tile.h"
#include "../Core/TileMap.h"
#include "../Core/PriorityQueue.h"
#include <vector>
#include <queue>
#include <map>
#include <iostream>;
using std::cout;
using std::map;
using std::vector;
using std::priority_queue;
using std::deque;
namespace fullsail_ai { namespace algorithms {
	struct PlannerNode
	{
		Tile* state;
		PlannerNode* parent;
		double heuristicCost;
		double givenCost;
		PlannerNode(Tile* _state,PlannerNode * _parent,double _heuristicCost,double _givenCost);
		//PlannerNode();
		bool operator<(PlannerNode& l);
	};
	bool compare(PlannerNode*const& l, PlannerNode*const& h);
	class PathSearch
	{
	private:



		Tile* StartTile,*GoalTile;
		PlannerNode* curPlanNode;
		TileMap* tilemap;
		bool m_isDone;
		map<Tile const *,PlannerNode*> m_Dups;
		
		PriorityQueue<PlannerNode*> open;
		vector<Tile const *> PathChosen;
		vector<Tile*> CloseNodes;
		void areAdjacent(PlannerNode* _curPlanNode);
		double dist(Tile const* _tile1,Tile const* _tile2);
		
	public:

		//! \brief Default constructor.
		PathSearch();

		//! \brief Destructor.
		~PathSearch();

		//! \brief Sets the tile map.
		//!
		//! Invoked when the user opens a tile map file.
		//!
		//! \param   _tileMap  the data structure that this algorithm will use
		//!                    to access each tile's location and weight data.
		void initialize(TileMap* _tileMap);

		//! \brief Enters and performs the first part of the algorithm.
		//!
		//! Invoked when the user presses one of the play buttons.
		//!
		//! \param   startRow         the row where the start tile is located.
		//! \param   startColumn      the column where the start tile is located.
		//! \param   goalRow          the row where the goal tile is located.
		//! \param   goalColumn       the column where the goal tile is located.
		void enter(int startRow, int startColumn, int goalRow, int goalColumn);

		//! \brief Returns <code>true</code> if and only if no nodes are left open.
		//!
		//! \return  <code>true</code> if no nodes are left open, <code>false</code> otherwise.
		bool isDone() const;

		//! \brief Performs the main part of the algorithm until the specified time has elapsed or
		//! no nodes are left open.
		void update(long timeslice);

		//! \brief Returns an unmodifiable view of the solution path found by this algorithm.
		std::vector<Tile const*> const getSolution() const;

		//! \brief Resets the algorithm.
		void exit();

		//! \brief Uninitializes the algorithm before the tile map is unloaded.
		void shutdown();
	};
}}  // namespace fullsail_ai::algorithms

#endif  // _FULLSAIL_AI_PATH_PLANNER_ALGORITHMS_PATH_SEARCH_H_

